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Obstacle avoidance inverse kinematics solution of redundant manipulators by neural networks

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2 Author(s)
Hsia, T.C. ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Davis, CA, USA ; Mao, Z.

Summary form only given. A neural network scheme is proposed to solve the inverse kinematic problem for redundant robots in an environment with or without obstacles. The inverse kinematic solution of a four link planar robot is simulated using a multilayer feedforward network with hidden units having sigmoidal functions and output units having linear functions. The results show that the proposed scheme provides very satisfactory solutions

Published in:

Robotics and Automation, 1993. Proceedings., 1993 IEEE International Conference on

Date of Conference:

2-6 May 1993